Introduction

This is a bootloader example, which shows an example of booting RTOS/NORTOS applications on DM R5, MCU M4 and A53 cores.

The booting is done in 2 stages(2 bootloader applications).

The stage1 of the bootloader runs from the HSM RAM. It boots MCU M4 with RTOS/NORTOS application and initializes the DDR. Then it loads the stage2 of the bootloader to DDR and starts running it.
The stage2 of the bootloader boots RTOS/NORTOS on A53 and then self loads DM firmware on the DM R5.

The SBL uses 6 appimages

tiboot3.bin with SBL stage1, TIFS, BoardConfig
Appimage for SBL stage2
Appimage for MCU M4
Appimage for HSM M4
DM firmware appimage for DM R5
Appimage for A53

Supported Combinations

Parameter	Value
CPU + OS	r5fss0-0 nortos
Toolchain	ti-arm-clang
Board	am62x-sk-lp
Example folder	examples/drivers/boot/sbl_ospi_nand_multistage

Steps to Run the Example

Build the example

Since this is a bootloader, the example will be run every time you boot an application using this example. It is run from a OSPI boot media unlike other examples which are usually loaded with CCS. Nevertheless, you can build this example like you do for the others using makefile or build it via CCS by importing as a project.

When using CCS projects to build, import the CCS project for the required combination and build it using the CCS project menu (see Using SDK with CCS Projects).
When using makefiles to build, note the required combination and build using make command (see Using SDK with Makefiles)
Refer to the page Basic steps to flash files to flash this bootloader along with the application to boot.

Create HSM Appimage

Note: Change DEVICE_TYPE to HS in ${SDK_INSTALL_PATH}/devconfig/devconfig.mak and then generate HSM Appimage for HS-SE device.

Create a HSM Appimage
This can be done by running the makefile at {SDK_INSTALL_PATH}/tools/boot/HSMAppimageGen
Refer HSM Appimage Generator Tool for more details

Run the example

This example is the SBL which needs to be flashed on the EVM flash, along with sample application images for R5, M4 CPUs and A53 Appimage.

Note: For HS-SE device, use default_sbl_ospi_nand_hs.cfg as the cfg file.; For HS-FS device, use default_sbl_ospi_nand_hs_fs.cfg as the cfg file.

There is a default flash config file as shown below which flashes this SBL and the IPC RPMsg echo applications
```
  ${SDK_INSTALL_PATH}/tools/boot/sbl_prebuilt/am62x-sk-lp/default_sbl_ospi_nand.cfg
```
Make sure IPC rpms echo application is built before running the flash script. (see IPC RP Message Echo)
To flash to the EVM, refer to Flash an example application . Only when giving the flash config file, point to the default_sbl_ospi_nand.cfg shown above.
Example, assuming SDK is installed at C:/ti/mcu_plus_sdk and this example and IPC application is built using makefiles, and RTOS Appimage is already created, in Windows,
```
  cd C:/ti/mcu_plus_sdk/tools/boot
  python uart_uniflash.py -p COM13 --cfg=C:/ti/mcu_plus_sdk/tools/boot/sbl_prebuilt/am62x-sk-lp/default_sbl_ospi_nand.cfg
```

If Linux PC is used, assuming SDK is installed at ~/ti/mcu_plus_sdk

  cd ~/ti/mcu_plus_sdk/tools/boot
  python uart_uniflash.py -p /dev/ttyUSB0 --cfg=sbl_prebuilt/am62x-sk-lp/default_sbl_ospi_nand.cfg

Boot the EVM in OSPI NAND boot mode.

Sample Output

After flashing and booting the EVM, you will see below output on the UART console (Complete log is not shown)

SYSFW Firmware Version 9.2.7--v09.02.07 (Kool Koala)
SYSFW Firmware revision 0x9
SYSFW ABI revision 3.1
 
[BOOTLOADER_PROFILE] Boot Media       : FLASH
[BOOTLOADER_PROFILE] Boot Media Clock : 166.667 MHz
[BOOTLOADER_PROFILE] Boot Image Size  : 163 KB
[BOOTLOADER_PROFILE] Cores present    :
m4f0-0
r5f0-0
[BOOTLOADER PROFILE] System_init                      :      32999us
[BOOTLOADER PROFILE] Board_init                       :          0us
[BOOTLOADER PROFILE] Drivers_open                     :        204us
[BOOTLOADER PROFILE] Board_driversOpen                :      10588us
[BOOTLOADER PROFILE] Sciclient Get Version            :      10204us
[BOOTLOADER PROFILE] App_waitForMcuPbist              :       1288us
[BOOTLOADER PROFILE] App_waitForMcuLbist              :       7689us
[BOOTLOADER PROFILE] App_loadImages                   :       5749us
[BOOTLOADER PROFILE] App_loadSelfcoreImage            :       3655us
[BOOTLOADER_PROFILE] SBL Total Time Taken             :      72379us
 
Image loading done, switching to application ...
Starting MCU-m4f and 2nd stage bootloader
 
SYSFW Firmware Version 9.2.7--v09.02.07 (Kool Koala)
SYSFW Firmware revision 0x9
SYSFW ABI revision 3.1
 
[BOOTLOADER_PROFILE] Boot Media       : FLASH
[BOOTLOADER_PROFILE] Boot Media Clock : 166.667 MHz
[BOOTLOADER_PROFILE] Boot Image Size  : 242 KB
[BOOTLOADER_PROFILE] Cores present    :
hsm-m4f0-0
r5f0-0
a530-0
[BOOTLOADER PROFILE] System_init                      :       2871us
[BOOTLOADER PROFILE] Board_init                       :          1us
[BOOTLOADER PROFILE] Drivers_open                     :        264us
[BOOTLOADER PROFILE] Board_driversOpen                :      47234us
[BOOTLOADER PROFILE] Sciclient Get Version            :      10240us
[BOOTLOADER PROFILE] App_loadImages                   :        580us
[BOOTLOADER PROFILE] App_loadSelfcoreImage            :       5570us
[BOOTLOADER PROFILE] App_loadA53Images                :       2750us
[BOOTLOADER_PROFILE] SBL Total Time Taken             :      69513us
 
Image loading done, switching to application ...
Starting  RTOS/Baremetal applications
[IPC RPMSG ECHO] Remote Core waiting for messages from main core ... !!!
[IPC RPMSG ECHO] Received and echoed 10 messages ... !!!
All tests have passed!!

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